update uncrustify config to reflect google code style

I have updated the uncrustify configuration with the code style from the Google document (http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml).

@ament/owners Please consider trying it with some C++ code and if necessary commit patches to / provide pull request for this branch. You can either run `ament_uncrustify` to see the actual diff or use the option `--reformat` to update the files (which are hopefully under version control) in place.